A5000890061- Robot Manipulation and Learning
- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Soft Robotics and Applications
- Robotics and Automated Systems
- Robotic Path Planning Algorithms
- Robotic Mechanisms and Dynamics
- Advanced Software Engineering Methodologies
- Scientific Computing and Data Management
- Software System Performance and Reliability
- Digital Transformation in Industry
- Software Testing and Debugging Techniques
- Robotics and Sensor-Based Localization
- Context-Aware Activity Recognition Systems
- Modular Robots and Swarm Intelligence
- Social Robot Interaction and HRI
Italian Institute of Technology
2014-2019
Piaggio (Italy)
2012-2017
University of Pisa
2017
Duke University
2016
In this work, we present WALK‐MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high‐strength capabilities, physical sturdiness. To enable these WALK‐MAN design actuation are based on the most recent advancements of series elastic actuator drives with unique performance features differentiate robot from previous state‐of‐the‐art compliant actuated robots....
In this work we introduce XBotCore (Cross-Bot-Core), a light-weight, Real-Time (RT) software platform for EtherCAT-based robots. is open-source and designed to be both an RT robot control framework middleware. It satisfies hard requirements, while ensuring 1 kHz loop even in complex Multi-Degree-Of-Freedom systems. provides simple easy-to-use middleware Application Programming Interface (API), non-RT frameworks. This API completely flexible with respect the user wants utilize. Moreover it...
A fundamental aspect of controlling humanoid robots lies in the capability to exploit whole body perform tasks. This work introduces a novel control library called OpenSoT. OpenSoT is combined with joint impedance create framework that can effectively generate complex motion behaviors for humanoids according needs interaction level gives an easy way implement tasks, constraints, bounds and solvers by providing common interfaces. We present mathematical foundation validate it on compliant...
In this paper we present OpenSoT, an open-source, recently developed software library, that can be used to solve robotics related control problems in a flexible and easy way. OpenSoT includes high-level interfaces state-of-the-art algorithms for kinematic/dynamic modelling, quadratic programming optimization, cost functions constraints specification. is implemented C++ permits rapid prototyping of controllers fixed or floating base, highly redundant robots such as (but not limited to)...
This paper deals with the self-collision avoidance problem for humanoid robots in an efficient way. Self-collision is introduced as a constraint each task hierarchical Inverse Kinematic (IK) problem. Since number of link pairs which needs to be updated and checked self-collision, every control loop, large, novel concept Self-Collision Avoidance Focus Interest (SCAFoI) proposed. SCAFoIs permits predict dynamically select necessary online improve computation efficiency. For several SCAFoIs,...
With the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose semi-autonomous control framework and evaluate it experimentally valve turning setup. The structure consists various modules interfaces to identify valve, locate front perform manipulation. manipulation module implements four motion primitives (Reach, Grasp, Rotate Disengage) realizes corresponding impedance profile each phase accomplish task. In direction,...
The advent of humanoids has brought new challenges in the real-world application. As a part ongoing efforts to foster functionality robot accommodating real environment, this paper introduces recent progress on door opening task with our compliant humanoid, CoMan. We presents task-prioritized impedance control framework for an upper body system that includes dual-arm, waist, two soft hands, and 3D camera. Aimed create desired responses open door, novel stiffness modulation method is...
Despite increasing popularity of compliant and underactuated hands, few tools are available for modeling them. Thus, we propose a simulation technique to predict the success gripper grasping irregular objects, which could be used in mechanism design as well grasp planning. The simulator integrates joint compliance with Boundary Layer Expanded Mesh (BLEM) enhance stability contact estimation. We compare proposed existing simulators via set fidelity criteria, including force variation,...
In this work we present the concept of a pilot interface to control humanoid robot on an abstract level in unknown environments. The environment is perceived with stereo camera system and then simplified into set environmental primitives. Based these primitives proposes affordances pilot. Affordances are represented as certainty functions over space end-effector poses. operates by selecting among proposed related action primitives, i.e. Object-Action Complexes (OACs). Before initiating...
A software and control architecture for a humanoid robot is complex large project, that involves team of developers/researchers to be coordinated requires many hard design choices. If such project has done in very limited time, i.e. less than one year, more constraints are added concepts as modular design, code reusability API definition need used much possible. In this work we describe the developed Walk-Man, participant at Darpa Robotics Challenge. The challenge required execute different...
This paper shows how an accurate peg-in-hole assembly task can be easily achieved with nothing but cheap position sensors when resourcing to Variable Impedance Actuators (VIA). We present the use of a low-cost Stiffness Torso platform, that consists two 4-DOF non-planar VSA manipulators, for using both arms. One arm holds peg and other hole. The is accomplished without any force measurement calling parallel-manipulator control techniques, exploiting intrinsic mechanical elasticity actuator...
Compliant underactuated hands have been shown to be able grasp a variety of objects while simplifying both mechanical and control complexity compared fully-actuated hands. Building on recent advances in simulation software, this paper presents generic compliant hand emulator working with state the art software that allows evaluating behavior gripper grasping irregular objects. The makes use adaptive synergy concept which can generalizable wide array architecture simulator-emulator system is...
The software development cycle in the robotic research environment is hectic and heavily driven by project or paper deadlines. Developers have only little time available for packaging C/C++ code they write, develop maintain build system continuous integration tools. Research projects are joint efforts of different groups working remotely asynchronously. typical solution to rely on binary distributions and/or large repositories that compile all dependencies. This approach hinders sharing...
The software development cycle in the robotic research environment is hectic and heavily driven by project or paper deadlines. Developers have only little time available for packaging C/C++ code they write, develop maintain build system continuous integration tools. Research projects are joint efforts of different groups working remotely asynchronously. typical solution to rely on binary distributions and/or large repositories that compile all dependencies. This approach hinders sharing...